We address the problem of (semiglobal) trajectory tracking control of rigid and exible joints robots using computed torque based controllers. The paper contains two contributions; rst, for rigid robots we show that velocity in the control algorithm can be replaced by the ltered position, thus obviating the explicit need of state observers. Second, we show that it is posible to achieve trajector...

This paper proposes a piecewise acceleration‐ optimal and smooth‐jerk trajectory planning method of robot manipulator. The optimal objective function is given by the weighted sum of two terms having opposite effects: the maximal acceleration and the minimal jerk. Some computing techniques are proposed to determine the optimal solution. These techniques take both th...

In this work the velocity, acceleration, and jerk analyses of a two-degrees-of-freedom parallel wrist are approached by means of the theory of screws. For the sake of completeness, the finite kinematics of the manipulator is also investigated. As far as the authors are aware, the equation of jerk in screw form of the robot at hand is introduced by the first time in this contribution. In order t...

In this paper, a control method of robots for human-robot cooperative manipulation is investigated. We propose estimating human motion using the minimum jerk model for smooth cooperation. Using nonlinear least-squares method, we identify two parameters of the minimum-jerk model in real-time. The estimated position of the human hand is used to determine the desired position of the end-effector o...

Epilepsia partialis continua (EPC) is a particular type of epilepsy which is distinguished from "common epilepsy" by its characteristic semiological features. However, unusual manifestations should be described in order to give awareness at clinical diagnosis. In this case report we describe a rare EPC case not previously reported, in which left shoulder joint-trunk-hip joint jerk was present f...

Electronic cam motion involves velocity tracking control of the master motor and trajectory generation of the slave motor. Special concerns such as the limits of the velocity, acceleration, and jerk are beyond the considerations in the conventional electronic cam motion control. This study proposes the curve-fitting of a Lagrange polynomial to the cam profile, based on trajectory optimization b...

In this paper, minimum jerk movement on the constrained sphere was studied by using both theoretical analysis and experimental investigation. Based on the constraint optimal principle, it was obtained that the trajectory of the minimum jerk movement on the surface of sphere should be a geodesic. Experiments used a robot especially designed for studies of human-machine interactions to evaluate m...

Robust nonlinear control of flexible-joint robots requires that the link position, velocity, acceleration, and jerk be available. In this paper, we derive the dynamic model of a nonlinear flexible-joint robot based on the governing Euler-Lagrange equations and propose extended and unscented Kalman filters to estimate the link acceleration and jerk from position and velocity measurements. Both o...